Rosario signed with the Broncos in August and was waived on September 3, then hooked on with Miami and played two games with the Dolphins before being released on Tuesday. He did not have a reception for Miami.
The fifth-year veteran from Oregon spent his first four NFL seasons with Carolina under new Broncos head coach John Fox. He started 21 games with the Panthers and caught 82 passes for 894 yards with four touchdowns.
In 16 games last season, including six starts, Rosario finished with a career- high 32 catches for 264 yards.
The Broncos opened a roster spot by waiving linebacker Mike Mohamed.